Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling
This study addresses sensor allocation by analyzing exponential stability for discrete-time teleoperation systems. Previous studies mostly concentrate on the continuous-time teleoperation systems and neglect the management of significant practical phenomena, such as data-swap, the effect of sampling...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/7/2673 |
| _version_ | 1797437643476172800 |
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| author | Amir Aminzadeh Ghavifekr Roberto De Fazio Ramiro Velazquez Paolo Visconti |
| author_facet | Amir Aminzadeh Ghavifekr Roberto De Fazio Ramiro Velazquez Paolo Visconti |
| author_sort | Amir Aminzadeh Ghavifekr |
| collection | DOAJ |
| description | This study addresses sensor allocation by analyzing exponential stability for discrete-time teleoperation systems. Previous studies mostly concentrate on the continuous-time teleoperation systems and neglect the management of significant practical phenomena, such as data-swap, the effect of sampling rates of samplers, and refresh rates of actuators on the system’s stability. A multi-rate sampling approach is proposed in this study, given the isolation of the master and slave robots in teleoperation systems which may have different hardware restrictions. This architecture collects data through numerous sensors with various sampling rates, assuming that a continuous-time controller stabilizes a linear teleoperation system. The aim is to assign each position and velocity signals to sensors with different sampling rates and divide the state vector between sensors to guarantee the stability of the resulting multi-rate sampled-data teleoperation system. Sufficient Krasovskii-based conditions will be provided to preserve the exponential stability of the system. This problem will be transformed into a mixed-integer program with LMIs (linear matrix inequalities). These conditions are also used to design the observers for the multi-rate teleoperation systems whose estimation errors converge exponentially to the origin. The results are validated by numerical simulations which are useful in designing sensor networks for teleoperation systems. |
| first_indexed | 2024-03-09T11:25:19Z |
| format | Article |
| id | doaj.art-661ed7c23d0b447e9d21710436dedbfd |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T11:25:19Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-661ed7c23d0b447e9d21710436dedbfd2023-12-01T00:03:15ZengMDPI AGSensors1424-82202022-03-01227267310.3390/s22072673Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate SamplingAmir Aminzadeh Ghavifekr0Roberto De Fazio1Ramiro Velazquez2Paolo Visconti3Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz 5166616471, IranDepartment of Innovation Engineering, University of Salento, 73100 Lecce, ItalyFacultad de Ingeniería, Universidad Panamericana, Aguascalientes 20290, MexicoDepartment of Innovation Engineering, University of Salento, 73100 Lecce, ItalyThis study addresses sensor allocation by analyzing exponential stability for discrete-time teleoperation systems. Previous studies mostly concentrate on the continuous-time teleoperation systems and neglect the management of significant practical phenomena, such as data-swap, the effect of sampling rates of samplers, and refresh rates of actuators on the system’s stability. A multi-rate sampling approach is proposed in this study, given the isolation of the master and slave robots in teleoperation systems which may have different hardware restrictions. This architecture collects data through numerous sensors with various sampling rates, assuming that a continuous-time controller stabilizes a linear teleoperation system. The aim is to assign each position and velocity signals to sensors with different sampling rates and divide the state vector between sensors to guarantee the stability of the resulting multi-rate sampled-data teleoperation system. Sufficient Krasovskii-based conditions will be provided to preserve the exponential stability of the system. This problem will be transformed into a mixed-integer program with LMIs (linear matrix inequalities). These conditions are also used to design the observers for the multi-rate teleoperation systems whose estimation errors converge exponentially to the origin. The results are validated by numerical simulations which are useful in designing sensor networks for teleoperation systems.https://www.mdpi.com/1424-8220/22/7/2673teleoperationsensor allocationmulti-rate samplingexponential stabilityLMIs |
| spellingShingle | Amir Aminzadeh Ghavifekr Roberto De Fazio Ramiro Velazquez Paolo Visconti Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling Sensors teleoperation sensor allocation multi-rate sampling exponential stability LMIs |
| title | Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling |
| title_full | Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling |
| title_fullStr | Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling |
| title_full_unstemmed | Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling |
| title_short | Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling |
| title_sort | sensors allocation and observer design for discrete bilateral teleoperation systems with multi rate sampling |
| topic | teleoperation sensor allocation multi-rate sampling exponential stability LMIs |
| url | https://www.mdpi.com/1424-8220/22/7/2673 |
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